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Soft-Computing-Based Real-Time Control of Two Wheel Mobile Robot (TWMR)
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Author(s): Ashwani Kharola (Tulas Institute, India), Suyashi Raiwani (EXL Services, India)and Shristi Kharola (Graphic Era University, India)
Copyright: 2021
Pages: 16
Source title:
Handbook of Research on Modeling, Analysis, and Control of Complex Systems
Source Author(s)/Editor(s): Ahmad Taher Azar (Faculty of Computers and Artificial Intelligence, Benha University, Benha, Egypt & College of Computer and Information Sciences, Prince Sultan University, Riyadh, Saudi Arabia)and Nashwa Ahmad Kamal (Faculty of Engineering, Cairo University, Giza, Egypt)
DOI: 10.4018/978-1-7998-5788-4.ch017
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Abstract
This chapter considers various soft-computing techniques for control of self-balancing two wheel mobile robot (TWMR). Initially, a mathematical model of the system was developed using Newton's second law. Thereafter, a simulink of the proposed system was developed in Matlab Simulink environment. Two different controllers, namely fuzzy logic controller and ANFIS controller, were used for control of proposed system. Finally, a real-time model of TWMR was designed which was controlled using Arduino Uno microcontroller, and its results were used for training of ANFIS controller.
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